CN111658154B - Automatic remote radiography surgical robot system - Google Patents
Automatic remote radiography surgical robot system Download PDFInfo
- Publication number
- CN111658154B CN111658154B CN202010394283.8A CN202010394283A CN111658154B CN 111658154 B CN111658154 B CN 111658154B CN 202010394283 A CN202010394283 A CN 202010394283A CN 111658154 B CN111658154 B CN 111658154B
- Authority
- CN
- China
- Prior art keywords
- information
- display data
- robot
- doctor
- display
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B34/35—Surgical robots for telesurgery
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/02—Detecting, measuring or recording pulse, heart rate, blood pressure or blood flow; Combined pulse/heart-rate/blood pressure determination; Evaluating a cardiovascular condition not otherwise provided for, e.g. using combinations of techniques provided for in this group with electrocardiography or electroauscultation; Heart catheters for measuring blood pressure
- A61B5/0205—Simultaneously evaluating both cardiovascular conditions and different types of body conditions, e.g. heart and respiratory condition
- A61B5/02055—Simultaneously evaluating both cardiovascular condition and temperature
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B6/00—Apparatus for radiation diagnosis, e.g. combined with radiation therapy equipment
- A61B6/48—Diagnostic techniques
- A61B6/481—Diagnostic techniques involving the use of contrast agents
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M5/00—Devices for bringing media into the body in a subcutaneous, intra-vascular or intramuscular way; Accessories therefor, e.g. filling or cleaning devices, arm-rests
- A61M5/007—Devices for bringing media into the body in a subcutaneous, intra-vascular or intramuscular way; Accessories therefor, e.g. filling or cleaning devices, arm-rests for contrast media
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M5/00—Devices for bringing media into the body in a subcutaneous, intra-vascular or intramuscular way; Accessories therefor, e.g. filling or cleaning devices, arm-rests
- A61M5/14—Infusion devices, e.g. infusing by gravity; Blood infusion; Accessories therefor
- A61M5/142—Pressure infusion, e.g. using pumps
- A61M5/145—Pressure infusion, e.g. using pumps using pressurised reservoirs, e.g. pressurised by means of pistons
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M5/00—Devices for bringing media into the body in a subcutaneous, intra-vascular or intramuscular way; Accessories therefor, e.g. filling or cleaning devices, arm-rests
- A61M5/14—Infusion devices, e.g. infusing by gravity; Blood infusion; Accessories therefor
- A61M5/168—Means for controlling media flow to the body or for metering media to the body, e.g. drip meters, counters ; Monitoring media flow to the body
- A61M5/16831—Monitoring, detecting, signalling or eliminating infusion flow anomalies
- A61M5/1684—Monitoring, detecting, signalling or eliminating infusion flow anomalies by detecting the amount of infusate remaining, e.g. signalling end of infusion
-
- G—PHYSICS
- G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
- G16H—HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA
- G16H40/00—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices
- G16H40/60—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices for the operation of medical equipment or devices
- G16H40/67—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices for the operation of medical equipment or devices for remote operation
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/02—Detecting, measuring or recording pulse, heart rate, blood pressure or blood flow; Combined pulse/heart-rate/blood pressure determination; Evaluating a cardiovascular condition not otherwise provided for, e.g. using combinations of techniques provided for in this group with electrocardiography or electroauscultation; Heart catheters for measuring blood pressure
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/08—Detecting, measuring or recording devices for evaluating the respiratory organs
Abstract
An automated teleradiography surgical robotic system is provided, comprising: a robot for enabling guidewire catheter remote delivery; the doctor control table is used for controlling the robot by receiving doctor instructions; a DSA contrast machine which generates contrast image information by emitting a radiation; a high pressure injector for injecting contrast media; the vital sign monitoring equipment is used for monitoring the vital sign information of the human body in the operation process; an injection detector to detect an injection parameter of the high pressure injector; the parameter monitor is arranged corresponding to the robot to monitor the working state parameter of the robot; and the information processing device is used for respectively processing the contrast image information, the human body vital sign information, the injection parameters and the working state parameters to generate first display data, and performing partition display on the doctor console. The automatic remote radiography surgical robot system can realize an unattended operation room, and minimizes the injury of radiation to doctors in radiography operations.
Description
Technical Field
The invention relates to the technical field of radiography operations, in particular to an automatic remote radiography operation robot system.
Background
The contrast operation is an operation for visualizing a lesion in an organ by using the contrast action of a contrast agent. During surgery, the physician needs to complete the surgery with guidance by Digital Silhouette Angiography (DSA) based on X-rays. Due to the complexity of the radiography operation, doctors often need to be exposed to the X-ray environment for a long time for operation, and even if the doctors are provided with the lead-containing protective clothing, the damage of radiation to the doctors cannot be effectively reduced. Although the prior art proposes some interventional surgical robotic devices for such situations, it still fails to create an unattended operating room. In addition, the existing interventional operation robot equipment lacks integration of relevant information such as movie and television images, wound images, patient sign monitoring and the like of patients in the operation process. Often need set up a plurality of display screens and come to carry out the demonstration of different subassembly operating condition information in the operation respectively, image equipment can only show the image of radiography machine, and the doctor is originally in high nervous state in the middle of the operation, needs the doctor to disperse energy again and pays close attention to the information of a plurality of display screens, influences doctor's operation precision unavoidably, causes the operation risk.
For this reason, improvements are required to address the problems existing in the prior art.
Disclosure of Invention
Technical problem to be solved
In order to solve the above problems in the prior art, the present invention provides an automatic remote radiography surgical robot system, which can realize an unattended operating room, minimize radiation damage to a surgeon, and simultaneously display all information of a surgical procedure on a surgeon console located outside the operating room in real time as required, thereby greatly facilitating the work of the surgeon.
(II) technical scheme
In order to achieve the purpose, the invention adopts the main technical scheme that:
an automated teleradiography surgical robotic system, comprising: a robot for enabling guidewire catheter remote delivery;
a surgeon console that controls the robot by receiving surgeon instructions;
a DSA contrast machine which generates contrast image information by emitting a radiation;
a high pressure injector for injecting contrast media;
the vital sign monitoring device is used for monitoring human vital sign information in the operation process;
an injection detector disposed corresponding to the high pressure injector to detect injection parameters of the high pressure injector;
the parameter monitor is arranged corresponding to the robot to monitor the working state parameter of the robot;
the information processing device is in communication connection with the doctor console, the DSA radiography machine, the injection detector and the parameter monitor respectively, and is used for processing the radiography image information, the human body vital sign information, the injection parameters of the high-pressure injector and the working state parameters respectively to generate first display data and controlling the doctor console to display the radiography image information, the human body vital sign information, the injection amount of the high-pressure injector and the working state parameters in a partition mode according to the first display data.
The automatic remote radiography surgical robot system displays all information required by a doctor in work in a partition mode on the doctor console according to actual needs, so that the doctor can master all real-time conditions, and the work of the doctor is greatly facilitated.
Optionally, the robot comprises a guide wire and catheter operating mechanism for operating a guide wire and a catheter respectively, a support arm and a slave control cabinet;
the automatic remote radiography surgical robot system further comprises sensing nodes, the sensing nodes are located at the front ends of the guide wires and/or the catheters and are arranged at equal intervals to collect regional information inside the blood vessels in real time, the sensing nodes are in communication connection with the information processing device, the information processing device processes the regional information to generate second display data, and the doctor console is controlled to display the regional information in a partition mode according to the second display data.
Optionally, the robot further comprises a plurality of cameras, and the cameras shoot the robot and the C-shaped arm of the DSA radiography machine in real time to generate robot posture information (1) and C-shaped arm position information;
the information processing device is in communication connection with the camera, processes the robot pose information (1) and the C-shaped arm position information to generate third display data, and controls the doctor console to display the image information in a partition mode according to the third display data.
Optionally, the doctor console comprises an operating handle, a main-end display screen and a main-end controller;
the main end display screen is in communication connection with the information processing device through the main end controller so as to display the first display data, the second display data and the third display data generated by the information processing device in a partition mode;
and the main end controller receives the first display data and/or the second display data, prejudges the first display data and/or the second display data, and sends out early warning information in a main end display screen if at least one data exceeds a normal range.
Optionally, the first display data further includes: the information processing apparatus post-processes the contrast image information to generate 3D image information.
Optionally, the working state parameters of the robot include: and controlling the opening and closing information of the robot, the linkage information of the guide wire and the catheter, the resistance value, the rotation amplitude, the rotation number and the traveling distance.
Optionally, the doctor console further includes a display data switching button, and the data switching button switches the display data displayed in the partition on the main-end display screen according to a doctor instruction.
Optionally, the master controller performs time-sharing and partition display according to the importance degree of the first, second, and third display data;
the time-sharing and partition display specifically comprises the following steps: and displaying the display data on the main terminal display screen in a partition mode at preset time intervals.
Optionally, the injection parameters of the high pressure injector include injection volume, injection time and injection speed.
Optionally, the information processing apparatus stores all the information received by the information processing apparatus or transmits the information to a hospital background storage system for storage.
(III) advantageous effects
The invention has the beneficial effects that: compared with the prior art, the automatic remote radiography surgical robot system can completely realize an unattended operating room, and minimizes the injury to doctors in radiography operations.
Meanwhile, the automatic remote radiography surgical robot system adopts an integrated design, integrates and displays all working information of equipment required in the operation on the doctor control table, effectively solves the technical problem that a doctor cannot simultaneously consider a plurality of display screens in the actual operation, and can monitor and control the condition in the operating room in real time.
In addition, the automatic remote radiography surgical robot system has an early warning function, so that even if the display data is displayed in a time-sharing and partition mode, doctors can find abnormal conditions at the first time in the working process, and therefore corresponding measures can be taken in time.
Drawings
FIG. 1 is a schematic block diagram of the configuration of an automated teleradiography surgical robotic system of the present invention;
FIG. 2 is a schematic diagram of real-time information displayed on a main display screen according to the present invention;
fig. 3 is an image of a guide wire and a catheter in a blood vessel.
[ description of reference ]
1: robot pose information;
2: a working state parameter;
3: contrast image information;
4: vital sign information;
5: 3D image information;
6: a robot;
7: a doctor operating table;
8: a DSA radiography machine;
9: a high pressure syringe;
10: a guide wire;
11: a conduit.
DETAILED DESCRIPTION OF EMBODIMENT (S) OF INVENTION
For a better understanding of the present invention, reference will now be made in detail to the present invention by way of specific examples, which are illustrated in the accompanying drawings in which FIGS. 1-3 are incorporated.
As shown in fig. 1-2, an automatic remote radiography surgical robot system according to an embodiment of the present invention includes: a robot 6 for enabling guidewire catheter remote delivery; a surgeon console 7 for controlling the robot by receiving surgeon instructions; a DSA contrast machine 8 that generates contrast image information by emitting radiation; a high pressure injector 9 for injecting contrast agent; vital sign monitoring equipment, which is used for monitoring human vital sign information 4 in the operation process; an injection detector disposed corresponding to the high pressure injector to detect injection parameters of the high pressure injector; the parameter monitor is arranged corresponding to the robot to monitor the working state parameter of the robot;
the information processing device is in communication connection with the doctor console, the DSA radiography machine, the injection detector and the parameter monitor respectively, and is used for processing the contrast image information 3, the human body vital sign information 4, the injection parameters of the high-pressure injector and the working state parameters 2 respectively to generate first display data and controlling the doctor console to display the contrast image information 3, the human body vital sign information 4, the injection amount of the high-pressure injector and the working state parameters in a partition mode according to the first display data.
Through the automatic remote radiography surgical robot system, a doctor can be far away from a DSA radiography machine generating radiation injury; adopt the design of integration, all work information integration display that need equipment in the operation control the platform with the doctor on, the effectual technical problem who can't compromise a plurality of display screens simultaneously in having solved the actual operation of doctor can monitor and control the condition in the operating room in real time, and unmanned on duty operating room can realize.
In order to better understand the above technical solutions, exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the invention are shown in the drawings, it should be understood that the invention can be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.
Referring to fig. 1-3, the present embodiment specifically provides an automated teleradiography surgical robotic system, comprising: in the medical environment related to radiation injury, except the above-mentioned facilities, all the other possible medical devices, such as injection devices of high-pressure saline bags, heparin saline and the like, can be arranged in the environment according to the needs.
In addition, because of the need to realize the remote control of doctors, the automatic remote radiography surgical robot system further comprises a data acquisition device for acquiring and monitoring the real-time data of the facilities: the robot comprises a parameter monitor for detecting various parameters of the working state of the robot, an injection detector for collecting injection parameters of a high-pressure injector 9, a sensing node for monitoring the advancing environment of a catheter 10 and a guide wire 11 required in the working process, and a camera capable of viewing the whole medical environment, the posture information of the robot, the position of a C-shaped arm of a DSA (digital radiography) machine and the like. The data acquisition equipment is arranged, so that doctors can conveniently know all data and all information in the medical environment in all directions, and remote control of the doctors is realized. Of course, the data acquisition device is not limited to that mentioned in the present embodiment, and it should be understood that the data acquisition device is set up accordingly according to different medical environments and devices used correspondingly, to ensure that a doctor in remote control can grasp the required data and information.
Further, since the data acquisition device is provided, an information processing apparatus that is in communication connection with the real-time data acquisition device is also required. The information processing device is in communication connection with data acquisition equipment such as the doctor console, the DSA radiography machine, the injection detector, the parameter monitor, the sensing node and the camera respectively, and is used for processing the radiography image information, the human body vital sign information, the injection parameters of the high-pressure injector, the working state parameters, the advancing environment information of the catheter 10 and the guide wire 11 and the position information of the medical facilities respectively to generate various display data, and controlling the doctor console to display the radiography image information, the human body vital sign information, the injection parameters of the high-pressure injector and the working state parameters in a time-sharing and partition mode according to the various display data.
The time-sharing and zone-dividing display means that the various display data can be displayed on the doctor console, but in consideration of the importance degrees of different display data, some information doctors must observe and master in real time, and some information doctors only need to know the information for a while, and then the display data are displayed in the time-sharing and zone-dividing mode on the doctor console according to the importance degrees of the display data, if the display data are observed in real time, the display data are positioned at the central position on the doctor console, so that the clear observation of the doctor is facilitated; the display data can be known at intervals of 5-10 minutes only by a period of time, short-time display is carried out in an area which does not influence the central position on the doctor console, and the interval time and the display time can be preset in advance according to the work carried out by the doctor.
Therefore, all information is centralized on the doctor control table, so that a doctor can control all data and information required by the doctor to work, information which is not required to be known every time in the operation of the doctor is not displayed on the doctor control table in a short time, and the doctor is not distracted and affects the attention of the doctor to the important information and the data.
The robot comprises:
in particular, said robot for carrying out on-site operations in place of a doctor is used to carry out the remote delivery of the guide wire 10 and of the catheter 11; the robot comprises a guide wire and guide tube operating mechanism, a supporting arm and a slave end control cabinet, wherein the guide wire and guide tube operating mechanism is used for respectively operating a guide wire 10 and a guide tube 11; the guide wire and catheter operating mechanism is arranged on the robot, and the communication connection with a doctor console outside an operating room is realized through the slave-end control cabinet, so that the doctor on-site operation is simulated through instructions of the doctor console, and the operation comprises clamping, rotating and remote delivery of the guide wire 10 and the catheter 11.
In order to monitor the working state parameters 2 of the robot, such as switch information for controlling the robot to be turned on and off, linkage information, resistance values, rotation amplitudes, rotation turns, traveling distance and the like of the guide wire 10 and the guide pipe 11, a parameter monitor is arranged at a corresponding position on the robot, the parameter monitor monitors the working state parameters 2 of the robot in real time and feeds the working state parameters 2 back to the information processing device in real time, and the information processing device processes the working state parameters 2 and generates display data related to the working state of the robot to control a doctor console to display in a partition mode. And because the working state of the robot is always concerned by the doctor in the working process, especially the doctor operates the doctor console through the robot, the working state parameter 2 of the robot can be displayed on the doctor console in real time, so that the doctor can master the working state of the robot at any time.
Meanwhile, in order to enable a doctor to clearly and intuitively observe the conditions of the guide wire 10 and the catheter 11 in the blood vessel, sensing nodes can be arranged at the front ends of the guide wire 10 and the catheter 11 at equal intervals to collect regional information in the blood vessel in real time, the sensing nodes are also in communication connection with an information processing device, the information processing device processes the regional information to generate display data of the guide wire 10 and the catheter 11 in the blood vessel, and controls the doctor console to display the regional information in a partitioned manner according to the display data in the blood vessel, as shown in fig. 3.
Doctor operating table
After the surgery has been started, the surgeon performs a remote operation on a surgeon console 7 located outside the operating room in order to avoid unnecessary radiation damage to the surgeon. Then, the surgeon needs a surgeon console 7 capable of remote manipulation, as shown in fig. 1.
The doctor console 7 controls the robot 6 by receiving doctor instructions, and includes an operating handle, a main-end display screen and a main-end controller.
The main end display screen is in communication connection with the information processing device through the main end controller so as to display various display data generated by the information processing device in a time-sharing and partition manner;
it can be understood that the doctor console 7 may further be provided with a display data switching button, and the data switching button switches the display data displayed in the partition on the main-end display screen according to the doctor instruction and according to the needs of the doctor. Because various display data required to be displayed are more, in order to reduce the burden of a doctor, some display data do not need to be displayed on a main display screen of the doctor in a partition mode all the time, and therefore the doctor can preset the display data which do not need to be displayed all the time before work, such as how long the display time is at intervals, how long the display time is kept each time and the like.
However, for all display data, the main-end controller receives the display data and pre-judges the display data, and if at least one display data exceeds a normal range, early warning information is sent out in a main-end display screen.
That is, regardless of the display data displayed in the non-center area or the display data displayed in real time, the doctor does not need to worry about which parameter is abnormal in the display data or exceeds the normal range, and cannot know the parameter at the first time. Because the main controller can correspondingly pre-judge all display data, when certain display data is not in a normal range, the main controller can warn in modes of display, sound and the like, and can give out early warning and reminding to workers such as doctors and the like, so that the workers can take corresponding measures at the first time.
It is understood that the warning message is not sent out through the operation handle of the console 7 of the doctor, because the doctor controls the remote delivery of the guide wire 10 and the catheter 11 on the robot through the operation handle during the work, if the warning message is sent out through the operation handle, such as vibration, the unexpected result will occur, and irreparable harm may be caused, so that the sending of all the warning messages will not be made in a way of affecting the work of the doctor.
In addition, except the setting of operating handle and display data switching button, the doctor controls and can also set up the button of different functions on the platform, for example can set up control automatic remote radiography operation robot system starts and closes the shift knob, sets up the pronunciation button of opening the inside and outside conversation of operating room to and set up the button of taking corresponding measure after early warning information appears, can carry out relevant setting according to the demand of each item work.
DSA (digital radiography) machine
The DSA contrast machine 8, an X-ray imaging system, is the product of a combination of conventional angiography and electronic computer image processing techniques. As shown in fig. 1, the DSA contrast machine 8 generates contrast image information 3 by emitting radiation that is transmitted and received through a C-arm of the DSA contrast machine. At the same time, the DSA contrast machine 8 and the information processing device are connected in communication, and the contrast image information 3 generated by the DSA contrast machine 8 is displayed in the center area on the main-end display screen of the surgeon console. Since the basis of the operation of the contrast surgery robot is based on the contrast image information 3 generated by the DSA contrast machine 8, the display of the information can be located in the central area of the main display screen or in a larger display area for the convenience of the doctor and other staff.
Meanwhile, the information processing device can also carry out post-processing on the contrast image information 3, convert the contrast image information 3 into 3D image information 5 and carry out partition display on the main end display screen. Since the original contrast image information 5 carries information that is not needed for the doctor's work and possibly blocks important image information, the contrast image information 3 can be changed into a subtraction image, i.e., 3D image information 5, through the post-processing, thereby facilitating the doctor's measurement and corresponding manipulation of the region to be manipulated.
Furthermore, the doctor can control the 3D image information 5 displayed on the main end display screen to rotate and move at a required angle through instructions of the doctor console, so that the doctor can clearly see the required operation part from various angles.
High pressure syringe
As shown in fig. 1, the robotic system for automated remote contrast surgery provided by the present embodiment further includes a high pressure injector 9 for injecting the contrast agent required for the DSA contrast machine to form the contrast image. In order to control the operating state of the high-pressure injector 9, it is necessary to acquire injection parameters of the high-pressure injector 9 in real time, for example, the injection parameters include an injection amount, an injection time, an injection speed, and the like, and therefore, the robot system for automated remote radiography surgery provided in this embodiment further includes an injection detector disposed on the high-pressure injector 9 to acquire the injection parameters in real time, and the injection detector is in communication connection with the information processing device, and the information processing device processes the injection parameter information to generate display data of the injection parameters, and controls a main-end display screen of the console to display the injection parameters of the high-pressure injector.
Of course, since the injection parameters are not information that needs to be known in real time during the operation of the doctor, the doctor only needs to know the operation state of the high pressure syringe 9 during the operation. During the subsequent work of the doctor, the working state of the high pressure syringe 9 can still be known when necessary, so that the injection parameters do not need to be displayed on the doctor console during the whole work of the doctor. When the doctor needs to know the information, the doctor can select the corresponding display information through a display information switching button arranged on the doctor console, and can also know the injection parameter information of the high-pressure injector 9 in a certain time period by presetting the display duration and the display interval time.
As described above, even in the time period when the injection parameter information is not displayed on the main display screen, there is no need to worry about whether the working state of the high-pressure injector 9 is abnormal, because the main controller keeps receiving and pre-judging all data in the whole course, when the working state of the high-pressure injector 9 is abnormal, which results in an abnormal injection parameter, such as the injection amount or the injection speed, the main controller may give an early warning message or sound in the main display screen to warn the worker, so that the worker may take corresponding measures in the first time.
Therefore, due to the arrangement of the early warning action, the burden that doctors need to pay attention to various display data all the time is relieved, the energy of the doctors is not dispersed, and meanwhile, when any equipment is in an abnormal state, the doctors can master and take corresponding measures in the first time, and the work of the doctors is greatly facilitated.
Vital sign monitoring equipment
Further, the automatic remote radiography surgical robot system further comprises a vital sign monitoring device, wherein the vital sign monitoring device is used for monitoring human body vital sign information in the working process of the radiography surgical robot. The vital sign monitoring equipment is a vital sign remote monitoring indicator, can remotely monitor the change of 24-hour vital signs of a human body through a body temperature sensor, a respiration sensor, a pulse sensor and other three vital sign sensors, and sends signals to a corresponding display through the analysis of a single chip microcomputer and the control of a controller. In the automatic remote radiography surgical robot system provided by this embodiment, the information is processed and sent to the main-end display screen of the doctor console through the communication connection between the information processing device and the vital sign monitoring device.
Camera head
In addition, in order to have overall control over the working environment, such as the pose information of the robot, the position information of the C-arm of the DSA radiography machine, and the positions or working states of other facilities, a required number of cameras can be arranged at corresponding positions in the operating room. Meanwhile, the camera and the information processing device are also in communication connection, so that a doctor can see image information required by the doctor in the operating room at a doctor control table outside the operating room, wherein the image information comprises robot pose information 1, position information of the C-shaped arm and whether the C-shaped arm is in a motion state, for example, the C-shaped arm can rotate around the scanning bed to rotate to an optimal ray emitting angle.
Meanwhile, a camera can be arranged on the C-shaped arm and used for monitoring the condition of a patient on the operating table in real time, and video information is sent to the main-end display screen for displaying through the main-end controller after being processed by the information processing device.
It can be understood that all information received by the information processing device is stored or transmitted to a hospital background storage system for storage, so as to facilitate subsequent use.
The robot system for the automatic remote radiography operation provided by the embodiment can completely realize an unattended operation room, and minimizes the damage to doctors in the radiography operation.
Meanwhile, the automatic remote radiography surgical robot system adopts an integrated design, integrates and displays all working information of equipment required in the operation on the doctor control table, effectively solves the technical problem that a doctor cannot simultaneously consider a plurality of display screens in the actual operation, and can monitor and control the condition in the operating room in real time.
In addition, the automatic remote radiography surgical robot system has an early warning function, so that even if the display data is displayed in a time-sharing and partition mode, doctors can find abnormal conditions at the first time in the working process, and therefore corresponding measures can be taken in time.
After the automatic remote radiography surgical robot system is started, a doctor performs corresponding operation outside an operating room, and meanwhile, the condition in the operating room can be comprehensively observed through a main-end display screen. The main controller is used for processing the received operation information and transmitting the operation information to relevant equipment in an operating room, such as a DSA (digital radiography) machine and a robot. The C-shaped arm of the DSA radiography machine is matched with an operating bed for use, when a patient is subjected to an operation, the patient lies on the operating bed, the head of the patient is located between the upper end and the lower end of the C-shaped arm, the upper end of the C-shaped arm emits X-rays, and the X-rays are received by the lower end of the C-shaped arm after passing through the head of the patient. The robot is fixedly arranged on one side of the operating bed, and the robot can move along with the bed body, so that the relative rest of the operating bed and the robot is ensured. The robot can adjust and select proper angle and position according to the operation requirement.
In the description of the present invention, it is to be understood that the terms "first", "second" and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implying any number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium; either as communication within the two elements or as an interactive relationship of the two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the present invention, unless otherwise expressly stated or limited, a first feature may be "on" or "under" a second feature, and the first and second features may be in direct contact, or the first and second features may be in indirect contact via an intermediate. Also, a first feature "on," "above," and "over" a second feature may be directly or obliquely above the second feature, or simply mean that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the second feature, or may simply mean that the first feature is at a lower level than the second feature.
Although embodiments of the present invention have been shown and described above, it should be understood that the above embodiments are illustrative and not restrictive, and that those skilled in the art may make changes, modifications, substitutions and alterations to the above embodiments without departing from the scope of the present invention.
Claims (10)
1. An automatic remote radiography surgical robot system comprises the following components:
a robot (6) for enabling guidewire catheter remote delivery;
a surgeon console (7) for controlling the robot by receiving surgeon instructions;
a DSA contrast machine (8) that generates contrast image information by emitting radiation;
a high pressure injector (9) for injecting contrast agent;
a vital signs monitoring device for monitoring human vital signs information (4) during a surgical procedure;
an injection detector disposed corresponding to the high pressure injector to detect injection parameters of the high pressure injector;
the parameter monitor is arranged corresponding to the robot to monitor the working state parameter of the robot;
the information processing device is in communication connection with the doctor console, the DSA (digital radiography) machine, the injection detector and the parameter monitor respectively, and is used for processing the contrast image information (3), the human body vital sign information (4), the injection parameters of the high-pressure injector and the working state parameters (2) respectively to generate first display data and controlling the doctor console to display the contrast image information (3), the human body vital sign information (4), the injection parameters of the high-pressure injector and the working state parameters in a time-sharing and partition mode according to the first display data;
the time-sharing partition display comprises the following steps: according to the importance degree of the display data, the display data is displayed in a time-sharing and partition mode on the doctor console; the display data which must be observed in real time is in the central position on the doctor console; the display data which is known only for a period of time is displayed for a short time in the area which does not influence the central position on the doctor console.
2. The automated teleradiography surgical robotic system of claim 1, wherein:
the robot (6) comprises a guide wire and guide tube operating mechanism, a supporting arm and a slave end control cabinet, wherein the guide wire and guide tube operating mechanism is used for respectively operating a guide wire (10) and a guide tube (11);
the automatic remote radiography surgical robot system further comprises sensing nodes, the sensing nodes are located at the front ends of the guide wires and/or the catheters and are arranged at equal intervals to collect regional information inside the blood vessels in real time, the sensing nodes are in communication connection with the information processing device, the information processing device processes the regional information to generate second display data, and the doctor console is controlled to display the regional information in a partition mode according to the second display data.
3. The automated teleradiography surgical robotic system of claim 2, wherein:
the robot and the C-shaped arm of the DSA radiography machine are shot by the cameras in real time to generate robot posture information (1) and C-shaped arm position information;
the information processing device is in communication connection with the camera, processes the robot pose information (1) and the C-shaped arm position information to generate third display data, and controls the doctor console to display the robot pose information (1) and the C-shaped arm position information in a partitioning mode according to the third display data.
4. The automated teleradiography surgical robotic system of claim 3, wherein:
the doctor console comprises an operating handle, a main end display screen and a main end controller;
the main end display screen is in communication connection with the information processing device through the main end controller so as to display the first display data and/or the second display data and/or the third display data generated by the information processing device in a partition mode;
and the main end controller receives the first display data and/or the second display data, prejudges the first display data and/or the second display data, and sends out early warning information in a main end display screen if at least one display data exceeds a normal range.
5. The automated teleradiography surgical robotic system of claim 1, wherein:
the first display data further includes: the information processing apparatus post-processes the contrast image information to generate 3D image information (5).
6. The automated teleradiography surgical robotic system of claim 2, wherein:
the working state parameters of the robot comprise:
and the robot is controlled to be switched on and off, and the linkage information, the resistance value, the rotation amplitude and the rotation number of the guide wire and the catheter, and the travel distance are controlled.
7. The automated teleradiography surgical robotic system of claim 4, wherein:
the doctor console also comprises a display data switching button, and the display data switching button switches the display data displayed in a partition mode on the main-end display screen according to a doctor instruction.
8. The automated teleradiography surgical robotic system of claim 4, wherein:
the main end controller performs time-sharing partition display according to the importance degree of the first display data, the second display data and/or the third display data;
the time-sharing and partition display specifically comprises the following steps: and displaying the display data on the main terminal display screen in a partition mode at preset time intervals.
9. The system of claim 1, wherein:
the injection parameters of the high-pressure injector include injection amount, injection time and injection speed.
10. The system of claim 1, wherein:
the information processing device stores all the received information or transmits the information to a hospital background storage system for storage.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010394283.8A CN111658154B (en) | 2020-05-11 | 2020-05-11 | Automatic remote radiography surgical robot system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010394283.8A CN111658154B (en) | 2020-05-11 | 2020-05-11 | Automatic remote radiography surgical robot system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111658154A CN111658154A (en) | 2020-09-15 |
| CN111658154B true CN111658154B (en) | 2021-10-26 |
Family
ID=72383308
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010394283.8A Active CN111658154B (en) | 2020-05-11 | 2020-05-11 | Automatic remote radiography surgical robot system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111658154B (en) |
Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112914730B (en) * | 2021-01-19 | 2022-12-16 | 上海市第十人民医院 | Remote interventional therapy system based on VR technology |
| CN113082367B (en) * | 2021-04-01 | 2022-08-19 | 李政霞 | Liver cancer interventional therapy hepatic artery angiography equipment |
| CN113855250A (en) * | 2021-08-27 | 2021-12-31 | 谈斯聪 | Medical robot device, system and method |
| CN113787524B (en) * | 2021-11-18 | 2022-02-15 | 极限人工智能有限公司 | Control method and device of mechanical arm, surgical robot and storage medium |
| CN114074330B (en) * | 2022-01-19 | 2022-05-13 | 成都博恩思医学机器人有限公司 | Robot control method, system, robot and storage medium |
| CN115192203A (en) * | 2022-07-20 | 2022-10-18 | 北京唯迈医疗设备有限公司 | Intervene unmanned operating room system |
| CN117085205B (en) * | 2023-10-18 | 2023-12-19 | 深圳市禾恩医疗科技有限公司 | Equipment operation management system for skin injection pump |
| CN117224348B (en) * | 2023-11-16 | 2024-02-06 | 北京唯迈医疗设备有限公司 | System for automatically adjusting radiography position |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103249354A (en) * | 2011-12-02 | 2013-08-14 | 株式会社东芝 | Medical image examination apparatus |
| CN104071076A (en) * | 2014-07-17 | 2014-10-01 | 贵州大学 | Vehicle-mounted head-up display system and display method thereof |
| CN206063215U (en) * | 2016-06-27 | 2017-04-05 | 重庆金山科技（集团）有限公司 | Control device and the micro-wound operation robot with the control device |
| CN107126634A (en) * | 2010-12-22 | 2017-09-05 | 优瑞技术公司 | System, computer-implemented method and computer program product |
| WO2019148286A1 (en) * | 2018-02-02 | 2019-08-08 | Intellijoint Surgical Inc. | Operating room remote monitoring |
| CN110448378A (en) * | 2019-08-13 | 2019-11-15 | 北京唯迈医疗设备有限公司 | A kind of immersion intervention operation overall-in-one control schema platform |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102201221B (en) * | 2010-03-25 | 2013-10-30 | 联想(北京)有限公司 | Display method and device |
| CN107582168A (en) * | 2017-09-04 | 2018-01-16 | 合肥龙图腾信息技术有限公司 | A kind of remote synchronization surgery systems |
-
2020
- 2020-05-11 CN CN202010394283.8A patent/CN111658154B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107126634A (en) * | 2010-12-22 | 2017-09-05 | 优瑞技术公司 | System, computer-implemented method and computer program product |
| CN103249354A (en) * | 2011-12-02 | 2013-08-14 | 株式会社东芝 | Medical image examination apparatus |
| CN104071076A (en) * | 2014-07-17 | 2014-10-01 | 贵州大学 | Vehicle-mounted head-up display system and display method thereof |
| CN206063215U (en) * | 2016-06-27 | 2017-04-05 | 重庆金山科技（集团）有限公司 | Control device and the micro-wound operation robot with the control device |
| WO2019148286A1 (en) * | 2018-02-02 | 2019-08-08 | Intellijoint Surgical Inc. | Operating room remote monitoring |
| CN110448378A (en) * | 2019-08-13 | 2019-11-15 | 北京唯迈医疗设备有限公司 | A kind of immersion intervention operation overall-in-one control schema platform |
Also Published As
| Publication number | Publication date |
|---|---|
| CN111658154A (en) | 2020-09-15 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111658154B (en) | Automatic remote radiography surgical robot system | |
| US9232982B2 (en) | System for orientation assistance and display of an instrument in an object under examination particularly for use in human body | |
| JP6054031B2 (en) | Fluoroscopic data display device | |
| US8335557B2 (en) | System for carrying out and monitoring minimally-invasive interventions | |
| US8121255B2 (en) | Diagnostic imaging system | |
| JP3550966B2 (en) | Surgical equipment | |
| US20170252002A1 (en) | Ultrasonic diagnostic apparatus and ultrasonic diagnosis support apparatus | |
| JP7325950B2 (en) | Systems and methods for interactive event timelines | |
| JP2000509626A (en) | Image display system | |
| JP2007185514A (en) | Imaging medical device and method to set working parameter of imaging medical device | |
| KR20140032919A (en) | Medical technical assembly and method for producing images | |
| EP3515311A1 (en) | Light and shadow guided needle positioning system and method | |
| JP2006296707A (en) | X-ray diagnostic imaging apparatus, and its three-dimensional blood flow image constituting/displaying method, and program | |
| US20170135654A1 (en) | Automatic or assisted region of interest positioning in x-ray diagnostics and interventions | |
| US20080212740A1 (en) | X-ray diagnostic apparatus and x-ray diagnostic system | |
| JP2001104295A (en) | Medical imaging system | |
| EP0830847B1 (en) | Surgical operating apparatus | |
| US20210330388A1 (en) | Augmented reality user guidance during examinations or interventional procedures | |
| CN213465314U (en) | Remote radiography surgical robot system | |
| JPH10127596A (en) | Medical imaging diagnostic unit | |
| JPH0452143B2 (en) | ||
| JP2002238884A (en) | Automatic condition setting mechanism of x-ray device | |
| JP2004081569A (en) | Equipment for angiographic photography | |
| JP2644930B2 (en) | Cardiovascular endoscope device | |
| JP2024038841A (en) | Medical image processing device, X-ray diagnostic device, and medical image processing program |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20211202 Address after: 100160 119 South 4th Ring Road West, Fengtai District, Beijing Patentee after: BEIJING TIANTAN HOSPITAL, CAPITAL MEDICAL University Address before: No. 119, South 4th Ring Road West, Fengtai District, Beijing 100071 Patentee before: BEIJING TIANTAN HOSPITAL, CAPITAL MEDICAL University Patentee before: Li Youxiang Patentee before: Jiang Yuhua |
|
| CB03 | Change of inventor or designer information | ||
| CB03 | Change of inventor or designer information |
Inventor after: Jiang Yuhua Inventor before: Li Youxiang Inventor before: Jiang Yuhua |